Adaptive Fuzzy Nonlinear H-infinity Tracking Control Design of a Constrained Robot System

Autor(es)

Nogueira, Samuel L. ; Pazelli, Tatiana de F. P. A. T. ; Siqueira, Adriano A. G. ; Terra, Marco H. ; IEEE

• Tipo de documento: Artigo Científico
• Fonte: 2008 MEDITERRANEAN CONFERENCE ON CONTROL AUTOMATION, VOLS 1-4; v. N/A, p. 2-pg., 2008-01-01.

Resumo

The problem of robust trajectory tracking control, with a guaranteed H-infinity performance, for constrained manipulator systems subject to uncertainties and external disturbances is solved in this paper. A control strategy is developed based on the robot mathematical model and an adaptive fuzzy approach. The adaptive fuzzy control law is based on Takagi-Sugeno model, which is proposed to estimate the behavior of unknown dynamics. A nonlinear H-infinity controller is formulated in order to attenuate the effects of estimation errors and external disturbances. A force sensor has been designed and built to measure the forces and torques between the manipulator end-effector and the environment. Finally, experimental results are presented to show the robust tracking performance of a three-link planar manipulator with a straight line path constraint by the proposed approach. (AU)

• Processo FAPESP: 06/03951-2 - Montagem e controle H-infinito não linear de um robô manipulador de base flutuante
• Beneficiário: Tatiana de Figueiredo Pereira Alves Taveira Pazelli
• Modalidade de apoio: Bolsas no Brasil - Doutorado